EP2918464B1 - Hybrid shovel and hybrid shovel control method - Google Patents

Hybrid shovel and hybrid shovel control method Download PDF

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Publication number
EP2918464B1
EP2918464B1 EP13852924.3A EP13852924A EP2918464B1 EP 2918464 B1 EP2918464 B1 EP 2918464B1 EP 13852924 A EP13852924 A EP 13852924A EP 2918464 B1 EP2918464 B1 EP 2918464B1
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EP
European Patent Office
Prior art keywords
revolution speed
engine
motor generator
assist
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP13852924.3A
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German (de)
English (en)
French (fr)
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EP2918464A1 (en
EP2918464A4 (en
Inventor
Hideto MAGAKI
Kiminori Sano
Ryuji SHIRATANI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo SHI Construction Machinery Co Ltd
Original Assignee
Sumitomo SHI Construction Machinery Co Ltd
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Publication of EP2918464A1 publication Critical patent/EP2918464A1/en
Publication of EP2918464A4 publication Critical patent/EP2918464A4/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K6/485—Motor-assist type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B60W30/1884—Avoiding stall or overspeed of the engine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/26—Power control functions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • the present invention relates to a hybrid shovel that assists an engine by means of an electric motor and a control method thereof.
  • an engine In a shovel, normally, an engine is controlled to maintain a constant revolution speed.
  • a load of a hydraulic pump is applied to the engine, a fuel injection is performed to increase a torque of the engine so as to perform a control for maintaining the revolution speed of the engine.
  • the load of the hydraulic pump is sharply increased, an increase in the engine torque cannot follow the load increase, and there may be a case where the engine revolution speed is temporarily decreased. In this case, a fuel injection is needed to return the engine revolution speed to the original revolution speed.
  • the fuel consumption is deteriorated but also the engine revolution speed is decreased, and, thereby, the movement of a drive cylinder becomes worse, which results in an occurrence of slowness.
  • Such a shovel in which an engine is assisted by controlling an assist motor to suppress an occurrence of such a problem.
  • Such a shovel is generally provided with an electric motor (assist motor) that outputs a power for driving a hydraulic pump to assist an engine. Then, it is suggested to return the engine revolution speed to the constant revolution speed by decreasing the engine revolution speed by driving the assist motor to assist the engine even when a load of the hydraulic pump sharply increases (for example, refer to JP 2011-012426 A .
  • EP 2 447 119 A1 discloses a hybrid working machine, wherein a control unit corrects an output upper limit value of an engine based on a deviation between a target revolution speed of the engine and an actual revolution speed of the engine, and output values of a motor generator, a hydraulically driven unit and an electrically driven unit are determined based on the corrected output upper limit value of the engine, or the control unit corrects an output lower limit value of the motor generator based on a deviation between the target revolution speed of the engine and the actual revolution speed of the engine, and the output values of the motor generator, the hydraulically driven unit and the electrically driven unit are determined based on the corrected output lower limit value of the motor generator.
  • EP 2 284 322 A2 discloses a system and method for controlling engine revolutions for a hybrid construction machine.
  • the system for controlling engine revolutions for a hybrid construction machine including an engine, a hydraulic pump which is driven by the engine to drive a hydraulic actuator with discharged hydraulic fluid, a motor-generator which is driven by the engine to generate electricity and to drive the hydraulic pump as a motor supplementing the engine, an energy storage device which is charged with electric energy generated by the motor-generator and which supplies the electric energy for motor operation of the motor-generator, a torque detection means for detecting an output torque of the hydraulic pump that is required to drive the hydraulic actuator, and a hybrid control means for controlling the motor operation of the motor-generator so as to supplement the engine output if the change of the output torque of the hydraulic pump detected by the torque detection means exceeds a predetermined level and it is determined that an engine revolution drop will occur.
  • US 2010/0332088 A1 discloses an engine control system for a construction machine, which can decrease a consumption of energy to be required for the reduction of an engine lag-down that occurs upon a sudden increase in load, such as upon quick manipulation of a control device.
  • the engine control system is provided with a load condition detecting unit, a charge amount detecting unit, a boost pressure sensor, and a determination processing unit.
  • the load condition detecting unit includes a manipulation stroke detector for detecting that a control device has been fully manipulated, and also, a first computation unit of a controller.
  • the charge amount detecting unit can detect an amount of charge in a capacitor.
  • the determination processing unit includes a determination processing unit of the controller.
  • the determination processing unit performs processing to feed electric power from the capacitor to an electric motor if, when it has been detected in concomitance with manipulation of the control device by the load condition detecting means that a torque to be absorbed by a pump would exceed an output torque of an engine, a boost pressure detected by the boost pressure sensor is determined to be lower than a predetermined pressure, and moreover, an amount of charge in the capacitor as detected by the charge amount detecting unit is determined to be an amount of charge that can drive the electric motor for a predetermined time.
  • US 2013/0324268 A1 and JP 2012-1980683 A disclose a target rotation speed setup section for setting a target rotation speed of an engine; load detection means for detecting a load on a hydraulic pump; an assist output computation section for calculating an assist output to be generated by a motor generator in accordance with a rotation speed deviation, which is the difference between an actual rotation speed and the target rotation speed, or in accordance with the load on the hydraulic pump; an absorption torque upper limit computation section for calculating an absorption torque upper limit value of the hydraulic pump; and an operation signal generation section for generating the operation signal to be output to a pump displacement adjustment device.
  • the absorption torque upper limit computation section reduces the absorption torque upper limit value of the hydraulic pump from the calculated value.
  • the engine revolution speed is returned by assisting the engine by the assist motor
  • the engine torque may always be a torque from which the torque of the assist motor is subtracted, and it may fall into a condition that, if the assist by the assist motor is stopped, the revolution speed is reduced again.
  • the revolution speed is returned to the original constant revolution speed by its own effort even when an assist is performed by the assist motor because of a reduction in the engine revolution speed.
  • FIG. 1 is a side view of a shovel to which the present invention is applied.
  • a lower running body 1 of the shovel illustrated in FIG. 1 is mounted with an upper turning body 3 via a turning mechanism 2.
  • a boom 4 is attached to the upper turning body 3.
  • An arm 5 is attached to an end of the boom 4, and a bucket 6 is attached to an end of the arm 5.
  • the boom 4, arm 5 and bucket 6 are hydraulically driven by a boom cylinder 7, arm cylinder 8 and bucket cylinder 9, respectively.
  • a cabin 10 is provided to the upper turning body 3, and a power source such as an engine or the like is also mounted to the upper turning body 3.
  • FIG. 2 is a block diagram illustrating a configuration of a drive system of the shovel illustrated in FIG. 1 .
  • double lines denote a mechanical power system
  • bold solid lines denote high-pressure hydraulic lines
  • dashed lines denote pilot lines
  • thin lines denote an electric drive/control system.
  • An engine 11 as a mechanical drive part and a motor generator 12 as an assist drive part are connected to two input axes of a transmission 13, respectively.
  • An output axis of the transmission 13 is connected with the main pump 14 as a hydraulic pump and a pilot pump 15.
  • the main pump 14 is connected with a control valve 17 though a high-pressure hydraulic line 16.
  • the main pump 14 is a variable capacity hydraulic pump, which can control a discharge flow rate thereof by adjusting a stroke length of a piston by controlling an angle (inclination angle) of a swash plate.
  • the control valve 17 is a control apparatus for controlling the hydraulic system in the shovel. Hydraulic motors 1A (right) and 1B (left) for the lower running body 1, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are connected to the control valve 17 through high-pressure hydraulic lines.
  • An electricity accumulating system 120 including an electricity accumulator is connected to the motor generator 12 through an inverter 18A. Additionally, an operation device 26 is connected to the pilot pump 15 through a pilot line 25.
  • the operation device 26 includes a lever 26A, a lever 26B and a pedal 26C.
  • the lever 26A, lever 26B and pedal 26C are connected to the control valve 17 and a pressure sensor 29 through hydraulic lines 17 and 18, respectively.
  • the pressure sensor 29 is connected to a controller 30 that performs a drive control of an electric system.
  • the shovel illustrated in FIG. 2 is one in which the turning mechanism 2 is electrically driven, and is provided with a turning electric motor 21 for driving the turning mechanism 2.
  • the turning electric motor 21 as an electrically operating element is connected to the electricity accumulation system 120 through an inverter 20.
  • a rotational axis 21A of the turning electric motor 21 is connected with a resolver 22, a mechanical brake 23 and a turning transmission 24.
  • a load drive system is constituted by the turning electric motor 21, inverter 20, resolver 22, mechanical brake 23 and turning transmission 24.
  • the controller 30 is a control device as a main control part for performing a drive control of the shovel.
  • the controller 30 is constituted by an operation processing device including a CPU (Central Processing Unit) and internal memories, and is a device materialized by the CPU executing a drive control program stored in the internal memories.
  • CPU Central Processing Unit
  • the controller 30 converts a signal supplied from the pressure sensor 29 into a speed command to perform a drive control of the turning electric motor 21.
  • the signal supplied from the pressure sensor 29 corresponds to a signal representing an operation amount when the operation device 26 is operated to cause the turning mechanism 2 to turn.
  • the controller 30 performs an operation control of the motor generator 12 (switching between an electric motor (assist) operation and a generating operation), and performs a charge/discharge control of a capacitor 19 by drive-controlling an up/down voltage converter 100 (refer to FIG. 3 ) as an up/down voltage control part.
  • the controller 30 performs a switching control of the voltage-up operation and the voltage-down operation of the up/down voltage converter 100 based on the charge state of the capacitor 19, the operating state of the motor generator 12 (an electric motor (assist) operation or a generating operation) and the operating state of the turning electric motor 21 (a power-running operation or a regenerating operation), thereby performing a charge/discharge control of the capacitor 19.
  • the controller 30 computes a state of charge (SOC) of the electricity accumulator (capacitor) based on an electricity accumulator voltage value detected by an electricity accumulator voltage detecting part.
  • SOC state of charge
  • the engine 11 is provided with a tachometer 11a for detecting a revolution speed of the engine 11, and a detection value (revolution speed value) of the tachometer 11a is supplied to the controller 30.
  • the controller 30 always monitors the detection value of the tachometer 11a to control the drive of the motor generator 12 based on the detection value of the tachometer 11a as mentioned later. Note that although a case where the engine and the motor generator are controlled by a single control part is indicated in the present embodiment, if a control part for the engine and a control part for the motor generator are configured by different controllers, the control part for the engine and the control part for the motor generator are included in the control part of the present invention.
  • FIG. 3 is a circuit block diagram of the electricity accumulation system 120.
  • the electricity accumulation system 120 includes the capacitor 19 as an electricity accumulator, the up/down voltage converter 100 and-a DC bus 110.
  • the DC bus 110 controls a transfer of an electric power between the capacitor 19, the motor generator 12 and the turning electric motor 21.
  • the capacitor 19 is provided with a capacitor voltage detecting part 112 for detecting a capacitor voltage value and a capacitor current detecting part 113 for detecting a capacitor current value.
  • the capacitor voltage value and the capacitor current value detected by the capacitor voltage detecting part 112 and the capacitor current detecting part 113 are supplied to the controller 30.
  • the up/down voltage converter 100 performs a control of switching a voltage-up operation and a voltage-down operation in accordance with operating states of the motor generator 12 and the turning electric motor 21 so that a DC bus voltage value falls within a fixed range.
  • the DC bus 110 is arranged between the inverters 18A and 20 and the up/down voltage converter 100, and performs a transfer of an electric power between the capacitor 19, the motor generator 12 and the turning electric motor 21.
  • the switching control between the voltage-up operation and the voltage-down operation of the up/down voltage converter 100 is carried out based on the DC bus voltage value detected by the DC bus voltage detecting part, the capacitor voltage value detected by the capacitor voltage detecting part 112, and the capacitor current value detected by the capacitor current detecting part 113.
  • an electric power generated by the motor generator 12, which is an assist motor is supplied to the DC bus 110 of the electricity accumulation system 120 via the inverter 18A, and, then, supplied to the capacitor 19 via the up/down voltage converter 100.
  • the regenerative electric power generated by the regenerative operation of the turning electric motor 21 is supplied to the DC bus 110 of the electricity accumulation system 120 via the inverter 20, and, then, supplied to the capacitor 19 via the up/down voltage converter 100.
  • the capacitor 19 may be a chargeable/dischargeable electricity accumulator that enables a transfer of electric power between the capacitor 19 and the DC bus 110 via the up/down voltage converter 100.
  • a chargeable/dischargeable secondary battery such as a lithium ion battery, a lithium ion capacitor, or a power supply of another form that can transfer an electric power may be used instead of the capacitor 19.
  • a control to maintain the revolution speed of the engine 11 at a previously set constant revolution speed when a load is applied or not applied to the engine.
  • the constant revolution speed control of the engine 11 is performed by a control unit (ECU) of the engine 11.
  • the constant revolution speed at which the engine 11 is maintained is set to RE1 (for example, 1800 rpm).
  • the engine 11 when the revolution speed of the engine 11 is reduced to a revolution speed lower than or equal to a predetermined revolution speed RE2 (for example, 1750 rpm) due to an increase in the load, the engine 11 is assisted by electrically driving the motor generator 12 so as to control the revolution speed of the engine 11 to return to the constant revolution speed RE1.
  • a predetermined revolution speed RE2 for example, 1750 rpm
  • the control method described below is one which is performed by the controller 30, which controls the entire shovel, in the present embodiment, it is not limited to the controller 30 and an exclusive control part may be provided.
  • the motor generator 12 when controlling the revolution speed of the engine 11 to return to the constant revolution speed RE1, the motor generator 12 is electrically driven by setting a target revolution speed RM1 of the motor generator 12 to a revolution speed lower than a revolution speed corresponding to the constant revolution speed (a target revolution speed) RE1 of the engine 11. For example, if a ratio of the revolution speed of the motor generator 12 and the revolution speed of the engine 11 at the transmission 13 is 1:N, the target revolution speed RM1 of the motor generator 12 is set to be lower than or equal to a revolution speed acquired by multiplying the constant revolution speed (target revolution speed) RE1 of the engine 11 by N.
  • the target revolution speed RM1 of the motor generator 12 is set to be lower than or equal to the constant revolution speed (target revolution speed) RE1 of the engine 11.
  • target revolution speed a description is given on the assumption that the ratio of the revolution speed of the motor generator 12 and the revolution speed of the engine 11 at the transmission 13 is 1:1.
  • Setting the target revolution speed RM1 of the motor generator 12 to be lower than the constant revolution speed (target revolution speed) RE1 of the engine 11 is equal to providing a difference between the target revolution speed RE1 of the engine 11 and the target revolution speed RM1 of the motor generator 12.
  • the revolution speed of the engine 11 can be caused to return to the target revolution speed RE1 by not providing the whole torque necessary to return the engine revolution speed to the target revolution speed RE1 by the output torque of the motor generator 12 but increasing the torque output by the engine 11 by the engine 11 itself.
  • the above-mentioned assist control according to the present embodiment can be achieved by the above-mentioned controller 30, which controls the drive of the shovel, controlling the drive of the motor generator 12.
  • controller 30 controls the drive of the shovel, controlling the drive of the motor generator 12.
  • FIG. 4 is a time chart illustrating an example of changes in the revolution speed of the engine 11, the torque of the motor generator 12 and the torque of the engine 11 during a period from an execution of the assist by the motor generator 12 when the revolution speed of the engine 11 is reduced and until the revolution speed of the engine 11 returns to the original constant revolution speed.
  • FIG. 4(a) is a time chart indicating changes in the revolution speed of the engine 11 in which a change in the engine revolution speed when the assist control according to the present example is performed is indicated by a solid line, and a change in the engine revolution speed when the assist control according to the present example is not performed is indicated by a dotted line.
  • FIG. 4(b) is a time chart indicating changes in the torque of the motor generator 12.
  • FIG. 4(c) is a time chart indicating changes in the torque of the engine 11 in which a change in the engine torque when the assist control according to the present example is performed is indicated by a solid line, and a. change in the engine torque when the assist control according to the present example is not performed is indicated by a dotted line.
  • the load to the engine 11 is small and the engine 11 is maintained at the constant revolution speed (target revolution speed RE1 (for example, 1800 rpm)). Accordingly, until time t1, the torque of the engine 11 is small as indicated in FIG. 4(c) . Additionally, because there is no need to perform an assist by the motor generator 12, the motor generator 12 does not perform an assist operation, and the torque of the motor generator 12 is zero as indicated in FIG. 4(b) .
  • target revolution speed RE1 for example, 1800 rpm
  • the engine revolution speed starts to go down as indicated in FIG. 4(a) . Because the load applied to the engine 11 is large, the engine revolution speed continuously decreases, and decreases to the previously set setting revolution speed RE2 (for example, 1750 rpm) at time t2. Then, in the present embodiment, the above-mentioned assist control is started. Specifically, the controller 30 monitors the revolution speed value of the engine 11 that is supplied from the tachometer 11a, and when the controller 30 judges that the revolution speed value of the engine 11 becomes lower than or equal to the setting revolution speed RE2, the controller 30 electrically drives the motor generator 12 to start the assist control.
  • the controller 30 monitors the revolution speed value of the engine 11 that is supplied from the tachometer 11a, and when the controller 30 judges that the revolution speed value of the engine 11 becomes lower than or equal to the setting revolution speed RE2, the controller 30 electrically drives the motor generator 12 to start the assist control.
  • the motor generator 12 is caused to perform the electric operation (assist operation) at time t2, the torque of the motor generator 12 sharply increases from time t2 as indicated in FIG. 4(b) . Because the torque of the motor generator 12 is added to the torque of the engine 11 and the drive of the engine 11 is assisted, the decrease in the revolution speed of the engine 11, which has been continuously decreased by being yielded to the load, and the engine revolution speed turns to increase. On the other hand, if the assist control according to the present embodiment is not performed, the revolution speed of the engine 11 does not turn to increase even when time t2 has passed and decreases greatly as indicted by the dotted line of FIG. 4(a) .
  • the engine revolution speed turns to increase, and returns to the setting revolution speed RE2 (for example, 1750 rpm) which is at the time when the above-mentioned assist control is started.
  • the target revolution number RM1 of the motor generator 12 is set to the revolution speed corresponding to the above-mentioned setting revolution speed RE2 of the engine 11.
  • the target revolution speed RM1 of the motor generator 12 is set to a revolution speed equal to the setting revolution speed RE2 of the engine 11.
  • the torque of the motor generator 12 turns to decrease as indicated in FIG. 4(b) .
  • a load can be given intentionally to the engine 11.
  • the engine 11 continuously outputs a torque.
  • the revolution speed of the engine 11 increases up to the setting revolution speed RE2, which is the revolution speed corresponding to the target revolution speed RM1 of the motor generator 12, the motor generator 12 performs an operation to output a torque to maintain the revolution speed thereof.
  • the engine 11 can continuously output a torque.
  • the revolution speed of the engine 11 is still the setting revolution speed RE2 at time t3, which is a revolution speed lower than the target revolution speed RE1, the constant revolution speed control of the engine 11 is performed, which further increases the torque of the engine 11.
  • the revolution speed of the engine 11 increases after time t3, and reaches the target revolution speed RE1. That is, the revolution speed of the engine 11 increases to the target revolution speed RE1 only by the constant revolution speed control performed on the engine 11 after time t3 at which the assist by the motor generator 12 is ended.
  • the engine 11 can continuously outputs a torque.
  • the engine 11 After the engine revolution speed reaches the target revolution speed RE1, the engine 11 is merely required to output a torque necessary for maintaining the target revolution speed RE, and, thus, the torque increased after time t3 is slightly reduced, and, thereafter, a constant-torque is set.
  • the revolution speed of the motor generator 12 also becomes higher than the target revolution speed RM1. If the revolution speed of the motor generator 12 is higher than the target revolution speed RM1 as mentioned above, it is possible that the motor generator 12 is controlled to perform a generating operation. If the motor generator 12 performs a generating operation, the load to the engine 11 is increased, which results in applying brake even though the engine revolution speed should be increased further to the target revolution speed RE1.
  • the motor generator 12 if the engine revolution speed becomes higher than the setting revolution speed RE2 (that is, if the revolution speed of the motor generator 12 becomes higher than the target revolution speed RM1), the motor generator 12 is prevented from performing the generating operation, thereby enabling the engine revolution speed to rapidly increase from the setting revolution speed RE2 to the target revolution speed RE1.
  • the engine revolution speed continuously decreases after time t2 and the decrease in the engine revolution speed finally stops at time t3 due to the effect of the increase in the fuel injection amount according to the constant revolution speed control. That is, because the increase in the torque by increasing the fuel injection amount of the engine 11 does not have a good response, the engine revolution speed decreases until time t3 even if the constant revolution speed control works after time t1 has passed.
  • the motor generator 12 has a high response as compared to the engine 11, and when the engine revolution speed decreases to the setting revolution speed RE2, the engine revolution speed immediately turns to increase because the torque of the motor generator 12 is applied to the engine 11 in a short time.
  • the engine revolution speed finally turns to increase after time t3 has passed, and returns to the target revolution speed RE1 at time t4.
  • the assist control according to the present example is not performed, although the engine revolution speed increases after time t3 has passed in the example illustrated in FIG. 4 , if the load applied to the engine 11 is large, the engine revolution speed continuously decreases and the engine 11 may stops in the worst case.
  • the engine revolution speed is suppressed from being decreased by causing the motor generator 12 to perform an electric operation (assist operation) when the revolution speed of the engine 11 has decreased.
  • the assist control according to the present example when the revolution speed of the engine 11 returns to the setting revolution speed RE2, which is lower than the target revolution speed RE1 of the engine 11, the assist by the motor generator 12 is stopped. Thereby, during a period from the setting revolution speed RE2 to the target revolution speed RE1, the engine revolution speed is increased by the torque of the engine 11 itself, which permits the constant revolution speed control of the engine 11 to work appropriately.
  • the assist by the motor generator 12 must be continued to maintain the target revolution speed RE1 even after the engine revolution speed is caused to increase to the target revolution speed RE1, and the constant revolution speed control of the engine 11 cannot be performed appropriately.
  • the assist by the motor generator 12 is continued until the engine revolution speed increases to the setting revolution speed RE2, which is lower than the target revolution speed RE1 of the engine 11, and, thereafter, the assist is stopped.
  • the constant speed control to maintain the target revolution speed RE1 works appropriately, and the target revolution speed RE1 can be maintained by increasing the engine revolution speed to the target revolution speed RE1 by the torque of the engine 11 itself.
  • the assist by the motor generator 12 is continued even after the revolution speed of the engine 11 turns from decrease to increase. Specifically, the assist to increase the engine revolution speed is performed until the engine revolution speed returns to the setting revolution speed RE2, which is the engine revolution speed corresponding to the target revolution speed RM1 of the motor generator 12.
  • the engine revolution speed may be maintained by the assist using the motor generator 12 so that the engine revolution speed does not decrease to be lower than or equal to a predetermined revolution speed, and the return of the engine revolution speed from the predetermined revolution speed to the target revolution speed RE1 may be achieved according to the constant revolution speed control of the engine 11.
  • the motor generator 12 plays a role of only suppressing the decrease in the engine revolution speed, and the increase in the revolution speed of the engine 11 may be achieved by the constant revolution speed control of the engine 11.
  • FIG. 5 is a time chart illustrating another example of changes in the revolution speed of the engine 11, the torque of the motor generator 12 and the torque of the engine 11 during a period from an execution of the assist by the motor generator 12 when the revolution speed of the engine 11 is decreased and until the revolution speed of the engine 11 returns to the original constant revolution speed.
  • FIG. 5(a) is a time chart indicating changes in the revolution speed of the engine 11 in which a change in the engine revolution speed when the assist control according to the present example is performed is indicated by a solid line, and a change in the engine revolution speed when the assist control according to the present example is not performed is indicated by a dotted line.
  • FIG. 5(b) is a time chart indicating changes in the torque of the motor generator 12.
  • FIG. 5(c) is a time chart indicating changes in the torque of the engine 11 in which a change in the engine torque when the assist control according to the present example is performed is indicated by a solid line, and a change in the engine torque when the assist control according to the present example is not performed is indicated by a dotted line.
  • the changes are the same as the example of the assist control illustrated in FIG. 4 . That is, the load to the engine 11 is small and the engine 11 is maintained at the constant revolution speed (target revolution speed RE1 (for example, 1800 rpm)). Accordingly, until time t1, the torque of the engine 11 is small as indicated in FIG. 5(c) . Additionally, because there is no need to perform an assist by the motor generator 12, the motor generator 12 does not perform an assist operation, and the torque of the motor generator 12 is zero as indicated in FIG. 5(b) .
  • changes from time t1 to time t2 are the same as the example of the assist control illustrated in FIG. 4 . That is, because a load for driving the hydraulic pump (main pump 14) is applied to the engine 11 at time t1, the engine revolution speed starts to decrease as indicated in FIG. 5(a) . Because the load applied to the engine 11 is large, the engine revolution speed continuously decreases, and decreases to the previously set setting revolution speed RE2 (for example, 1750 rpm) at time t2. Then, in the present embodiment, the above-mentioned assist control is started.
  • the controller 30 monitors the revolution speed value of the engine 11 that is supplied from the tachometer 11a, and when the controller 30 judges that the revolution speed value of the engine 11 becomes lower than or equal to the setting revolution speed RE2, the controller 30 electrically drives the motor generator 12 to start the assist control.
  • the motor generator 12 is caused to perform the electric operation (assist operation) at time t2, the torque of the motor generator 12 sharply increases from time t2 as indicated in FIG. 5(b) . Then, the torque increases to a predetermined torque. Because the torque of the motor generator 12 is added to the torque of the engine 11 and the drive of the engine 11 is assisted, the decrease in the revolution speed of the engine 11, which has been continuously decreased by being yielded to the load, the revolution speed of the engine 11 is suppressed from being decreased. On the other hand, if the assist control according to the present embodiment is not performed, the revolution speed of the engine 11 greatly decreases even when time t2 has passed as indicted by the dotted line of FIG. 5(a) .
  • the assist control When the assist control according to the present example is started at time t2, the torque of the motor generator 12 increases, and when the torque of the motor generator 12 reaches a predetermined torque, the motor generator performs the assist of the drive of the engine 11 by a substantially constant torque. Thereby, the decrease in the revolution speed of the engine 11 stops, and the revolution speed of the engine 11 is maintained substantially constant at a predetermined revolution speed, which is lower than the setting revolution speed RE2. That is, the motor generator 12 may perform the assist of the drive of the engine 11 by the torque necessary for maintaining the revolution speed of the engine 11 at the predetermined revolution speed when the revolution speed of the engine 11 decreases and reaches the predetermined revolution speed.
  • the constant revolution speed control of the engine 11 is performed even in the state where the decrease in the revolution speed of the engine 11 stops when time t2 has passed and the revolution speed of the engine 11 is maintained substantially constant.
  • the torque of the engine 11 itself continuously increases.
  • a load can be given intentionally to the engine 11.
  • the torque of the engine 11 continuously increases, and the revolution speed of the engine 11 starts to increase due to the increased torque of the engine 11.
  • the assist by the motor generator 12 becomes unnecessary because the torque to return the revolution speed of the engine 11 to the target revolution speed RE1 is continuously output from the engine 11 according to the constant revolution speed control of the engine 11.
  • the torque of the motor generator 12 is reduced, and the torque of the motor generator 12 becomes zero at time t3.
  • the assist control according to the present example is ended, and the electric operation (assist operation) of the motor generator 12 is stopped.
  • the engine 11 can continuously output a torque by the controller 30 suppressing the decrease in the engine revolution speed to the predetermined revolution speed and performing the assist control using the motor generator 12 to maintain the engine revolution speed at the predetermined revolution speed.
  • the engine revolution speed continuously increases due to the constant revolution speed control of the engine 11, and the engine revolution speed reaches the target revolution speed RE1 after time t3 has passed.
  • the torque for merely maintaining the target revolution speed RE1 is required, and the torque slightly decreases after time t3 as illustrated in FIG. 5(c) , and, thereafter, set to be a constant torque.
  • the revolution speed of the motor generator 12 if the engine revolution speed becomes higher than the setting revolution speed RE2, the revolution speed of the motor generator 12 also becomes higher than the target revolution speed RM1.
  • the engine revolution speed becomes higher than the setting revolution speed RE2 (that is, if the revolution speed of the motor generator 12 becomes higher than the target revolution speed RM1), the motor generator 12 may be prevented from performing the generating operation. Thereby, the engine revolution speed can rapidly increase from the setting revolution speed RE2 to the target revolution speed RE1.
  • the engine revolution speed continuously decreases after time t2 as illustrated in FIG. 5(a) and the decrease in the engine revolution speed finally stops around time t3 due to the effect of the increase in the fuel injection amount according to the constant revolution speed control. That is, because the increase in the torque by increasing the fuel injection amount of the engine 11 does not have a good response, the engine revolution speed decreases until time t3 even if the constant revolution speed control works after time t1 has passed.
  • the motor generator 12 has a high response as compared to the engine 11, and when the engine revolution speed decreases to the setting revolution speed RE2, the engine revolution speed is immediately prevented from being decreased because the torque of the motor generator 12 is applied to the engine 11 in a short time.
  • the engine revolution speed finally turns to increase after time t3 has passed, and returns to the target revolution speed RE1 at time t4.
  • the assist control according to the present example is not performed, although the engine revolution speed increases after time t3 has passed in the example illustrated in FIG. 5 , if the load applied to the engine 11 is large, the engine revolution speed continuously decreases and the engine 11 may stops in the worst case.
  • the engine revolution speed is suppressed from being decreased by causing the motor generator-12 to perform an electric operation (assist operation) when the revolution speed of the engine 11 has decreased.
  • the torque of the motor generator 12 is controlled so that the engine revolution speed is maintained substantially constant at the predetermined revolution speed. Then, the assist by the motor generator 12 is stopped when the revolution speed of the engine 11 starts to increase due to the constant revolution speed control by the engine 11. Thereby, during a period from the above-mentioned predetermined revolution speed to the target revolution speed RE1, the engine revolution speed is increased by the torque of the engine 11 itself, which permits the constant revolution speed control of the engine 11 to work appropriately.
  • the assist by the motor generator 12 must be continued to maintain the target revolution speed RE1 even after the engine revolution speed is caused to increase to the target revolution speed RE1, and the constant revolution speed control of the engine 11 cannot be performed appropriately.
  • the assist control when the engine revolution speed decreases to the predetermined revolution speed, which is lower than the target revolution speed RE1, the engine 11 is assisted so that the engine revolution speed is maintained at the predetermined revolution speed. Then, after the engine revolution speed starts to increase due to the constant revolution speed of the engine 11, the assist is stopped. Thereby, the constant speed control to maintain the target revolution speed RE1 works appropriately, and the target revolution speed RE1 can be maintained by increasing the engine revolution speed to the target revolution speed RE1 by the torque of the engine 11 itself.
  • the setting revolution speed RE2 may be appropriately determined as an arbitrary revolution speed, which is lower than the target revolution speed RE1, if it is a revolution speed at which the constant revolution speed control of the engine 11 works.
  • the assist control is started when the revolution speed of the engine 11 starts to decrease and becomes lower than or equal to the setting revolution speed RE2 (at time t2) in the above-mentioned each example, the setting revolution speed RE2 is not always set as a reference.
  • the start of the assist control may be judged using a revolution speed, which is lower than the setting revolution speed RE2, as a reference.
  • FIG. 6 is a block diagram illustrating a configuration of a drive system in a case where the turning mechanism of the shovel illustrated in FIG. 2 is made to be a hydraulically driven type.
  • a turning hydraulic motor 2A is connected to the control valve 17 instead of the turning electric motor 21, and the turning mechanism 2 is driven by the turning hydraulic motor 2A.
  • the constant revolution speed control to maintain the target revolution speed RE1 works appropriately, and the target revolution speed RE1 can be maintained by causing the revolution speed to increase to the target revolution speed RE1 by the torque of the engine 11 itself.
EP13852924.3A 2012-11-08 2013-10-30 Hybrid shovel and hybrid shovel control method Active EP2918464B1 (en)

Applications Claiming Priority (2)

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JP2012246576 2012-11-08
PCT/JP2013/079457 WO2014073436A1 (ja) 2012-11-08 2013-10-30 ハイブリッドショベル及びハイブリッドショベルの制御方法

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EP2918464A1 EP2918464A1 (en) 2015-09-16
EP2918464A4 EP2918464A4 (en) 2017-08-23
EP2918464B1 true EP2918464B1 (en) 2020-10-21

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US (1) US9995318B2 (ko)
EP (1) EP2918464B1 (ko)
JP (1) JP6169596B2 (ko)
KR (1) KR101998379B1 (ko)
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JP2003102106A (ja) * 2001-09-21 2003-04-04 Hitachi Constr Mach Co Ltd ハイブリッド建設機械の駆動制御装置、ハイブリッド建設機械及びその駆動制御プログラム
JP5096813B2 (ja) * 2007-07-03 2012-12-12 日立建機株式会社 建設機械のエンジン制御装置
JP4976317B2 (ja) * 2008-01-25 2012-07-18 住友建機株式会社 ハイブリッド建設機械の出力トルクアシストシステム
WO2010150382A1 (ja) * 2009-06-25 2010-12-29 住友重機械工業株式会社 ハイブリッド型作業機械及び作業機械の制御方法
JP5550064B2 (ja) * 2009-07-01 2014-07-16 住友重機械工業株式会社 ハイブリッド型作業機械
KR101112137B1 (ko) * 2009-07-29 2012-02-22 볼보 컨스트럭션 이큅먼트 에이비 하이브리드식 건설기계의 엔진회전수 변화저감 제어시스템 및 방법
JP5356436B2 (ja) * 2011-03-01 2013-12-04 日立建機株式会社 建設機械の制御装置

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EP2918464A1 (en) 2015-09-16
KR20150082291A (ko) 2015-07-15
US9995318B2 (en) 2018-06-12
CN104781118A (zh) 2015-07-15
WO2014073436A1 (ja) 2014-05-15
JP6169596B2 (ja) 2017-07-26
KR101998379B1 (ko) 2019-07-09
JPWO2014073436A1 (ja) 2016-09-08
EP2918464A4 (en) 2017-08-23
CN104781118B (zh) 2018-08-14
US20150233394A1 (en) 2015-08-20

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